| 10,7 → 10,7 |
|---|
| |
| volatile uint8_t twi_state = 0; |
| volatile uint8_t motor = 0; |
| volatile uint8_t motor_rx[8]; |
| volatile uint8_t motor_rx[MOTOR_COUNT*2]; |
| |
| /**************************************************/ |
| /* Initialize I2C (TWI) */ |
| 136,9 → 136,33 |
|---|
| I2C_WriteByte(0x52+(motor*2)); |
| break; |
| case 1: // Send Data to Salve |
| #ifdef HEXAKOPTER |
| switch(motor++) |
| { |
| case 0: |
| I2C_WriteByte(Motor_FrontLeft); |
| break; |
| case 1: |
| I2C_WriteByte(Motor_RearRight); |
| break; |
| case 2: |
| I2C_WriteByte(Motor_FrontRight); |
| break; |
| case 3: |
| I2C_WriteByte(Motor_RearLeft); |
| break; |
| case 4: |
| I2C_WriteByte(Motor_Right); |
| break; |
| case 5: |
| I2C_WriteByte(Motor_Left); |
| break; |
| } |
| |
| #else |
| switch(motor++) |
| { |
| case 0: |
| I2C_WriteByte(Motor_Front); |
| break; |
| case 1: |
| 151,9 → 175,10 |
|---|
| I2C_WriteByte(Motor_Left); |
| break; |
| } |
| #endif |
| break; |
| case 2: // repeat case 0+1 for all Slaves |
| if (motor<4) twi_state = 0; |
| if (motor<MOTOR_COUNT) twi_state = 0; |
| I2C_Start(); // Repeated start -> switch salve or switch Master Transmit -> Master Receive |
| break; |
| |
| 172,8 → 197,7 |
|---|
| case 6: |
| //Read 2nd byte |
| motor_rx[motorread+4] = TWDR; |
| motorread++; |
| if (motorread > 3) motorread=0; |
| if (++motorread >= MOTOR_COUNT) motorread=0; |
| |
| default: |
| I2C_Stop(); |